CN106312398A - Welding robot capable of automatically identifying and tracking welding line - Google Patents
Welding robot capable of automatically identifying and tracking welding line Download PDFInfo
- Publication number
- CN106312398A CN106312398A CN201610890614.0A CN201610890614A CN106312398A CN 106312398 A CN106312398 A CN 106312398A CN 201610890614 A CN201610890614 A CN 201610890614A CN 106312398 A CN106312398 A CN 106312398A
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- welding
- welding gun
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- horizontal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention belongs to the technical field of robots, and provides a welding robot capable of automatically identifying and tracking a welding line. The welding robot comprises a walking vehicle, a horizontal box body, a vertical box body, a horizontal and vertical tracking execution mechanism, a front vision sensor, a rear vision sensor, a welding gun mechanism and a computer control system; the horizontal box body and the vertical box body are arranged on the walking vehicle in a rear and front manner, the horizontal and vertical tracking execution mechanism is connected with a connecting plate and is fixedly arranged on the upper surface of the walking vehicle, the front vision sensor is mounted on the front side of the vertical box body, and a computer can be connected with the front vision sensor, the rear vision sensor, the walking vehicle and the horizontal and vertical tracking execution mechanism through cables, wherein the front vision sensor and the rear vision sensor can obtain the geometrical shape and the position information of the welding line. According to the welding robot, the geometrical shape of the welding line can be automatically identified, the pipeline welding bead number, the layer number and the tracking motion of the walking vehicle can be automatically planned through the computer, and stability and optimization of the welding quality can be ensured.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of can the welding robot of automatic recognition and tracking weld seam
People.
Background technology
Along with the development of process industry, increasing welding robot system comes into operation, Automation of Welding
Level of development also obtain and is greatly enhanced, especially with the field such as automobile production, engineering machinery as representative, but, to box
The welding that Steel Structure Installation is on-the-spot, is also mainly based on traditional manual welding, and therefore the stability of welding quality is difficult to full
Foot manufacture requirements, and pacify at the steel construction relating to the fields such as Offshore Engineering equipment, steel house, steel structure bridge
During dress Site Welding, it is often necessary to carrying out work high above the ground, welding operating mode is severe, even threatens the life security of welder.
Meanwhile, weld defect produced by manual welding, have a strong impact on the service life of some steel buildings, sending out for some accidents
Hidden danger has been buried in life.
The major defect of traditional manual welding is: need two welders to implement balanced welding, and two welders are when welding
Weldingvoltage should keep consistent with electric current, speed of welding and the welding number of plies, requires the highest to the harmony of welder；And it is existing
Welding operating mode is severe, affects the many factors of welding quality, thus manual welding is it is difficult to ensure that welding quality.
Summary of the invention
The purpose of the present invention is exactly for overcoming above-mentioned technical deficiency, it is provided that a kind of can the welding of automatic recognition and tracking weld seam
Robot.
For realizing technique scheme, the invention provides a kind of can the welding robot of automatic recognition and tracking weld seam,
Including moving trolley, described moving trolley includes four permanent magnetism wheels being arranged on car body and drive mechanism thereof and driving motor,
Moving trolley can be attached to the surface even running of welded pipe line by permanent magnetism wheel；Rear, the front water being arranged on moving trolley respectively
Flat casing and vertical casing；Level with vertically follow the tracks of actuator, described level and vertically tracking actuator and with being connected
Plate connects, and is packed on the upper surface of moving trolley；Anterior optic sensor and after-vision sensor, described anterior optic sensor
Be arranged on the front side of described vertical casing, including the ccd video camera being arranged on sensor outer housing inwall, semiconductor laser and
The optical axis of cylindrical lens, ccd video camera and semiconductor laser is in same plane；Welding gun mechanism, described welding gun mechanism
Be arranged on including one end and vertically follow the tracks of the welding gun bent plate in actuator, the other end of welding gun bent plate be provided with can fix welding gun,
And the adjustable welding gun chuck that welding gun adjusts can be made along road to be welded normal direction；Computer control system, described computer controls system
System includes computer, cable and corresponding software；Computer connects, by cable, geometry and the position that can obtain weld seam respectively
The described forward and backward vision sensor of information, described moving trolley, level with vertically follow the tracks of actuator.
Preferably, described level is followed the tracks of actuator and is arranged in horizontal box, including vertical bent plate, it is fixedly mounted with
Horizontal drive motor and horizontal guide rail, horizontal drive motor are mechanically connected with horizontal screw lead-nut body, guilde screw mechanism
The other end of horizontal saddle be connected with described connecting plate；Described actuator of vertically following the tracks of is arranged in vertical casing,
Including riser, what it was fixedly mounted with vertically drives motor and upright guide rail, vertically drives motor and vertical leading screw-nut body machinery
Connecting, the other end of the vertical saddle of guilde screw mechanism is connected with the welding gun bent plate in described welding gun mechanism.
Preferably, this welding robot also includes welding power source system.
The present invention provide a kind of can the having the beneficial effects that of welding robot of automatic recognition and tracking weld seam: by adopting
With originally can the welding robot of automatic recognition and tracking weld seam, it is not necessary in advance the outer surface at pipeline lay guider or
Draw and parallel the mark line as welding gun moving reference with weld seam, can save these miscellaneous early stage aided processes, but base
Directly controlled moving trolley by computer in vision weld joint identification technology and be automatically obtained weld joint tracking motion, decrease and assist work in a large number
Time, improve production efficiency, also reduce the labor intensity of operator.It addition, this welding robot can also identify weldering automatically
The geometry of seam, and by computer, the pursuit movement of pipeline welding bead number, the number of plies and moving trolley is planned automatically,
Can ensure that the stable of welding quality and optimization.
Accompanying drawing explanation
Fig. 1 is that the present invention can the integrally-built schematic front view of welding robot of automatic recognition and tracking weld seam；
Fig. 2 is that the present invention can the integrally-built schematic side view of welding robot of automatic recognition and tracking weld seam；
Fig. 3 is that the present invention can the welding robot control system principle schematic of automatic recognition and tracking weld seam.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Ability
The every other embodiment that territory ordinary person is obtained under not making creative work premise, belongs to the protection of the present invention
Scope.
Embodiment: a kind of can the welding robot of automatic recognition and tracking weld seam.
Present invention design a kind of can the welding robot (see Fig. 1,2) of automatic recognition and tracking weld seam, its feature exists
In it include moving trolley 1, respectively after, the front horizontal box 20 being arranged on moving trolley 1 and vertical casing 30, level with vertically with
Track actuator 2 and 3, anterior optic sensor and after-vision sensor 4 and 5, welding gun mechanism 6 and computer control system 7；Institute
The moving trolley 1 stated includes four the permanent magnetism wheels 12 being arranged on car body 11 and drive mechanism 13 thereof and drives motor 14, walking
Car 1 can be attached to the surface even running of welded pipe line 9 by permanent magnetism wheel 12；Described level with vertically follow the tracks of actuator
2 and 3 connect with connecting plate 8, and are packed on the upper surface of moving trolley 1；Described level is followed the tracks of actuator 2 and is arranged on level
In casing 20, including vertical bent plate 21, the horizontal drive motor 22 that it is fixedly mounted with and horizontal guide rail 24, horizontal drive motor 22 with
Horizontal screw lead-nut body 23 is mechanically connected, the other end of the horizontal saddle 25 of guilde screw mechanism 23 and described connecting plate
8 connect；Described actuator 3 of vertically following the tracks of is arranged in vertical casing 30, including riser 31, the vertical driving that it is fixedly mounted with
Motor 33 and upright guide rail 32, vertically drive motor 33 to be mechanically connected with vertical leading screw-nut body 34, guilde screw mechanism
The other end of the vertical saddle 35 of 34 is connected with the welding gun bent plate 61 in described welding gun mechanism 6；Described anterior optic sensing
Device 4 is arranged on the front side of described vertical casing 30, including the ccd video camera 41 being arranged on sensor outer housing 40 inwall, partly leads
Body laser 42 and cylindrical lens 43, the optical axis of ccd video camera 41 and semiconductor laser 42 is in same plane；Described
After-vision sensor 5 is identical with anterior optic sensor construction, is arranged on the rear side of described horizontal box 20；Described forward and backward regard
Sense sensor 4,5 installation site all should make the weld seam 91 of its perpendicular alignmnet welded pipe line 9；Described welding gun mechanism 6 includes one end
Being arranged on and vertically follow the tracks of the welding gun bent plate 61 in actuator 3, what the other end of welding gun bent plate 61 was provided with fixing welding gun 63 can
Adjusting welding gun chuck 62, adjustable welding gun chuck 62 can make welding gun 63 adjust along the normal direction of road to be welded 9；Described computer controls system
System 7 includes computer 71, cable 72 and corresponding software；Computer 71 connects, by cable 72, the geometry that can obtain weld seam 91 respectively
The described forward and backward vision sensor 4,5 of shape and positional information, and described moving trolley 1, level with vertically follow the tracks of actuator
2 and 3, and by cable 73 connecting welding power-supply system 10；Described welding power source system 10 is original unified welding electricity
Origin system；Computer control system 7 is by software manipulation moving trolley 1 and other described whole mechanisms co-ordinations.
Of the present invention can the operation principle of welding robot of automatic recognition and tracking weld seam as follows:
The welding robot of automatic recognition and tracking weld seam soldered pipeline 9 outer surface can be placed on by of the present invention
On, by 4 permanent magnetism wheels 12 by described can automatic recognition and tracking weld seam welding robot adsorb on pipeline 9.Anterior optic
The lower port of sensor 4 and after-vision sensor 5 is all directed at weld seam 91 center to be welded.The quasiconductor of anterior optic sensor 4
Laser instrument 42 sends laser and is transformed into striped photograph in welded joints through cylindrical lens 43, forms structure light.Ccd video camera 41 will knot
The image acquisition of structure light processes in computer 71, obtains geometry and the positional information of weld seam.Described robot
Moving trolley 1 weld seam 91 along pipeline 9 moves in a circle.If the welding gun 63 being fixedly mounted with on welding gun bent plate 61 deviates in weld seam 91
The heart, computer 71 control level is followed the tracks of actuator 2 and is realized horizontal pursuit movement, makes welding gun 63 realign in weld seam 91
The heart.The operation principle of after-vision sensor 5 is same as anterior optic sensor 4, and it is by the relative position between moving trolley 1 with weld seam 91
Information gives computer 71, so control walking vehicle body 1 realize butt welded seam 91 from motion tracking.
Computer control system 7 of the present invention is by software manipulation moving trolley 1 and other mechanisms.Its operation principle is (to see
Fig. 3): the picture signal collected is passed to computer 71 by image pick-up card, through system by forward and backward vision sensor 4,5
The image processing module of software and Track Pick-up resume module, obtain track and the cross section information of weld seam 91；Motion-control module
Trace information instruction Motor execution module (including moving trolley 1, horizontally and vertically actuator 2 and 3) according to weld seam 91 drives
Weld seam 91 followed the tracks of by welding gun 61, and welding gun 63 position is fed back to systems soft ware；Welding parameter control module is according to weld seam 91 cross section
Information obtains welding parameter, and drives welding power source system 10, welds, and welding parameter feeds back to systems soft ware, complete
Become automatic welding.Therefore, annular solder robot of the present invention without laying guide rail or marking the index wire parallel with weld seam,
And press weld seam 91 path implement pursuit movement and the automatic welding of visual identity.
The work of the ring-like welding robot of inventive pipeline is the automatic recognition and tracking of view-based access control model weld seam, can apply
In a diameter of 600-4000 millimeter, wall thickness is the automatic welding of the conduit ring-shaped weld seam of 10-80 millimeter, and operation simplifies, and quality is steady
Fixed, efficiency improves.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of present inventive concept, it is also possible to make some equivalents and substitute or obvious modification, and performance or purposes are identical, all answer
When being considered as belonging to protection scope of the present invention.
Claims (3)
1. one kind can the welding robot of automatic recognition and tracking weld seam, it is characterised in that it includes:
Moving trolley, described moving trolley includes four permanent magnetism wheels being arranged on car body and drive mechanism thereof and driving motor,
Moving trolley can be attached to the surface even running of welded pipe line by permanent magnetism wheel；
Rear, the front horizontal box being arranged on moving trolley and vertical casing respectively；
Level with vertically follow the tracks of actuator, described level and vertically tracking actuator and be connected with connecting plate, and be fixedly mounted with
On the upper surface of moving trolley；
Anterior optic sensor and after-vision sensor, described anterior optic sensor is arranged on the front side of described vertical casing, bag
Include ccd video camera, semiconductor laser and the cylindrical lens being arranged on sensor outer housing inwall, ccd video camera and quasiconductor
The optical axis of laser instrument is in same plane；
Welding gun mechanism, described welding gun mechanism includes the welding gun bent plate that one end is arranged in vertically tracking actuator, and welding gun is curved
The other end of plate is provided with the adjustable welding gun chuck can fixed welding gun and welding gun can be made to adjust along road to be welded normal direction；
Computer control system, described computer control system includes computer, cable and corresponding software；Computer is by electricity
Cable connects the geometry that can obtain weld seam and the described forward and backward vision sensor of positional information, described moving trolley, level respectively
With vertically follow the tracks of actuator.
The most as claimed in claim 1 can the welding robot of automatic recognition and tracking weld seam, it is characterised in that: described level
Follow the tracks of actuator to be arranged in horizontal box, including vertical bent plate, the horizontal drive motor that it is fixedly mounted with and horizontal guide rail, water
Flat driving motor is mechanically connected with horizontal screw lead-nut body, and the other end of the horizontal saddle of guilde screw mechanism is with described
Connecting plate connects；Described actuator of vertically following the tracks of is arranged in vertical casing, including riser, the vertical driving that it is fixedly mounted with
Motor and upright guide rail, vertical driving motor is mechanically connected with vertical leading screw-nut body, and the vertical of guilde screw mechanism is slided
The other end of saddle is connected with the welding gun bent plate in described welding gun mechanism.
The most as claimed in claim 2 can the welding robot of automatic recognition and tracking weld seam, it is characterised in that: also include welding
Power-supply system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890614.0A CN106312398A (en) | 2016-10-12 | 2016-10-12 | Welding robot capable of automatically identifying and tracking welding line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890614.0A CN106312398A (en) | 2016-10-12 | 2016-10-12 | Welding robot capable of automatically identifying and tracking welding line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106312398A true CN106312398A (en) | 2017-01-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610890614.0A Pending CN106312398A (en) | 2016-10-12 | 2016-10-12 | Welding robot capable of automatically identifying and tracking welding line |
Country Status (1)
| Country | Link |
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| CN (1) | CN106312398A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904133A (en) * | 2016-07-06 | 2016-08-31 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN107052518A (en) * | 2017-02-28 | 2017-08-18 | 成都南方电子仪表有限公司 | A kind of trackless welding robot |
| CN108189411A (en) * | 2017-12-28 | 2018-06-22 | 机械科学研究总院江苏分院 | A kind of nonmetallic welding method of automatic pipeline external cylindrical surface and device |
| CN114170175A (en) * | 2021-12-02 | 2022-03-11 | 国家石油天然气管网集团有限公司 | Full-automatic welding defect real-time identification method and system for pipeline girth weld |
| CN114713966A (en) * | 2022-05-10 | 2022-07-08 | 苏州大学 | Welding method for identifying welding seam |
| CN115770987A (en) * | 2022-11-30 | 2023-03-10 | 国家石油天然气管网集团有限公司 | Magnetic attraction type movable track |
-
2016
- 2016-10-12 CN CN201610890614.0A patent/CN106312398A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904133A (en) * | 2016-07-06 | 2016-08-31 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN107052518A (en) * | 2017-02-28 | 2017-08-18 | 成都南方电子仪表有限公司 | A kind of trackless welding robot |
| CN108189411A (en) * | 2017-12-28 | 2018-06-22 | 机械科学研究总院江苏分院 | A kind of nonmetallic welding method of automatic pipeline external cylindrical surface and device |
| CN114170175A (en) * | 2021-12-02 | 2022-03-11 | 国家石油天然气管网集团有限公司 | Full-automatic welding defect real-time identification method and system for pipeline girth weld |
| CN114713966A (en) * | 2022-05-10 | 2022-07-08 | 苏州大学 | Welding method for identifying welding seam |
| CN114713966B (en) * | 2022-05-10 | 2024-04-05 | 苏州大学 | Welding method for identifying welding seam |
| CN115770987A (en) * | 2022-11-30 | 2023-03-10 | 国家石油天然气管网集团有限公司 | Magnetic attraction type movable track |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170111 |
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| WD01 | Invention patent application deemed withdrawn after publication |